\hypertarget{classnubot_1_1para__traj__planning}{\section{nubot\-:\-:para\-\_\-traj\-\_\-planning Class Reference}
\label{classnubot_1_1para__traj__planning}\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
}


trajectory planning for parabolic curve transition. The trajectory consists of 3 part\-: two parabolic curve in the beginning and in the end; a straight line in the middle. This trajectory avoids the infinite acceleration at the beginning and at the end if just sepcify straight line trajectory  




{\ttfamily \#include $<$parabolic\-\_\-transition\-\_\-planning.\-hh$>$}

\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{classnubot_1_1para__traj__planning_a1300969c1d26ae23945d2ac1bc428a96}{para\-\_\-traj\-\_\-planning} (double \-\_\-accel=0.\-0, double \-\_\-max\-\_\-vel=0.\-0, double \-\_\-distance=0.\-0)
\begin{DoxyCompactList}\small\item\em Constructor. Initialize \hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} params. \end{DoxyCompactList}\item 
virtual \hyperlink{classnubot_1_1para__traj__planning_ac091cb7cbef52a262db8952f52dc717d}{$\sim$para\-\_\-traj\-\_\-planning} ()
\begin{DoxyCompactList}\small\item\em Destructor. \end{DoxyCompactList}\item 
void \hyperlink{classnubot_1_1para__traj__planning_a18420bf66ac499e432718b9c6faab5b2}{Init} (double \-\_\-accel=0.\-0, double \-\_\-max\-\_\-vel=0.\-0, double \-\_\-distance=0.\-0)
\begin{DoxyCompactList}\small\item\em Initialize \hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} params. \end{DoxyCompactList}\item 
void \hyperlink{classnubot_1_1para__traj__planning_acacb310a853b8045c860fd4735610b70}{Set\-Accel} (double \-\_\-accel)
\begin{DoxyCompactList}\small\item\em Set the constant acceleration for the parabolic curve. \end{DoxyCompactList}\item 
void \hyperlink{classnubot_1_1para__traj__planning_a52da7443d436abac47ea0a84fb734032}{Set\-Distance} (double \-\_\-distance)
\begin{DoxyCompactList}\small\item\em Set distance about to travel. \end{DoxyCompactList}\item 
void \hyperlink{classnubot_1_1para__traj__planning_ae85df349fd73029b13b60ca13a60c37d}{Set\-Max\-Vel} (double \-\_\-vel)
\begin{DoxyCompactList}\small\item\em Set the maximum velocity. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_aec43c0428c311568c6369d02e12795e8}{Get\-Accel} () const 
\begin{DoxyCompactList}\small\item\em Get the constant acceleration. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_adca3092bc6cfe64f2b7fb09dd66c50c9}{Get\-Distance} () const 
\begin{DoxyCompactList}\small\item\em Get distance about to travel. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a8c5b225529f70ba36617a81b38f2da61}{Get\-Max\-Vel} () const 
\begin{DoxyCompactList}\small\item\em Get the maximum velocity or the velocity of the straight line part. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a444ae4938bb69327f99d293fb08b3d4d}{Vel\-Update} (double \-\_\-dt)
\begin{DoxyCompactList}\small\item\em Get velocity of the trajectory. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_ae67aeaf943c7db5c12b18ec4d915247b}{Disp\-Update} (double \-\_\-dt)
\begin{DoxyCompactList}\small\item\em Get displacement of the trajectory. \end{DoxyCompactList}\item 
\hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} \& \hyperlink{classnubot_1_1para__traj__planning_a8b1a8820091ff8bb12801171ef10d9f2}{operator=} (const \hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} \&\-\_\-p)
\begin{DoxyCompactList}\small\item\em Assignment operator. \end{DoxyCompactList}\item 
void \hyperlink{classnubot_1_1para__traj__planning_aeb7b8fa44365f9b6e81a24214d2556a4}{Reset} ()
\begin{DoxyCompactList}\small\item\em Reset all the params, output\-\_\-vel\-\_\- and output\-\_\-disp\-\_\-;. \end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Private Attributes}
\begin{DoxyCompactItemize}
\item 
double \hyperlink{classnubot_1_1para__traj__planning_ac2f88068a317316a2e483be7d75a71b8}{acceleration\-\_\-}
\begin{DoxyCompactList}\small\item\em constant acceleration of the parabolic curve. \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a6115be17c446c1a2437b5575baf3f5a8}{distance\-\_\-}
\begin{DoxyCompactList}\small\item\em total distance to travel \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a1ae8b889bdbb7716e9fbb5821328e4d1}{max\-\_\-vel\-\_\-}
\begin{DoxyCompactList}\small\item\em maximum velocity; the const velocity of the stragight line trajectory \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a06fe0c4fbd1afaa2a33672a85705410a}{time\-\_\-}
\begin{DoxyCompactList}\small\item\em total time starting from 0 \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_ae57f0165c2b073b880bf4827bdd76204}{output\-\_\-vel\-\_\-}
\begin{DoxyCompactList}\small\item\em output velocity of the trajectory \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a9095bac66ff724f1b9b9c366546f2b36}{output\-\_\-disp\-\_\-}
\begin{DoxyCompactList}\small\item\em output displacement of the trajectory \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a89b8a9abfcb47b34ac861127fe26b8ca}{t\-\_\-b\-\_\-}
\begin{DoxyCompactList}\small\item\em end time of the first parabolic curve \end{DoxyCompactList}\item 
double \hyperlink{classnubot_1_1para__traj__planning_a9c93d92b950dcb6f34b3c3b843aad823}{t\-\_\-f\-\_\-}
\begin{DoxyCompactList}\small\item\em end time of the trajectory \end{DoxyCompactList}\item 
bool \hyperlink{classnubot_1_1para__traj__planning_a84667362f94667e70f1cf67829645a7d}{is\-\_\-straight\-\_\-line\-\_\-}
\begin{DoxyCompactList}\small\item\em flag to indicate if there is a straight line part \end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
trajectory planning for parabolic curve transition. The trajectory consists of 3 part\-: two parabolic curve in the beginning and in the end; a straight line in the middle. This trajectory avoids the infinite acceleration at the beginning and at the end if just sepcify straight line trajectory 

\subsection{Constructor \& Destructor Documentation}
\hypertarget{classnubot_1_1para__traj__planning_a1300969c1d26ae23945d2ac1bc428a96}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!para\-\_\-traj\-\_\-planning@{para\-\_\-traj\-\_\-planning}}
\index{para\-\_\-traj\-\_\-planning@{para\-\_\-traj\-\_\-planning}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{para\-\_\-traj\-\_\-planning}]{\setlength{\rightskip}{0pt plus 5cm}para\-\_\-traj\-\_\-planning\-::para\-\_\-traj\-\_\-planning (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-accel = {\ttfamily 0.0}, }
\item[{double}]{\-\_\-max\-\_\-vel = {\ttfamily 0.0}, }
\item[{double}]{\-\_\-distance = {\ttfamily 0.0}}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_a1300969c1d26ae23945d2ac1bc428a96}


Constructor. Initialize \hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} params. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-accel} & The acceleration. \\
\hline
\mbox{\tt in}  & {\em \-\_\-distance} & The total distance to travel. \\
\hline
\mbox{\tt in}  & {\em \-\_\-max\-\_\-vel} & The maximum velocity. \\
\hline
\end{DoxyParams}
\hypertarget{classnubot_1_1para__traj__planning_ac091cb7cbef52a262db8952f52dc717d}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!$\sim$para\-\_\-traj\-\_\-planning@{$\sim$para\-\_\-traj\-\_\-planning}}
\index{$\sim$para\-\_\-traj\-\_\-planning@{$\sim$para\-\_\-traj\-\_\-planning}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{$\sim$para\-\_\-traj\-\_\-planning}]{\setlength{\rightskip}{0pt plus 5cm}para\-\_\-traj\-\_\-planning\-::$\sim$para\-\_\-traj\-\_\-planning (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [virtual]}}}\label{classnubot_1_1para__traj__planning_ac091cb7cbef52a262db8952f52dc717d}


Destructor. 



\subsection{Member Function Documentation}
\hypertarget{classnubot_1_1para__traj__planning_ae67aeaf943c7db5c12b18ec4d915247b}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Disp\-Update@{Disp\-Update}}
\index{Disp\-Update@{Disp\-Update}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Disp\-Update}]{\setlength{\rightskip}{0pt plus 5cm}double para\-\_\-traj\-\_\-planning\-::\-Disp\-Update (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-dt}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_ae67aeaf943c7db5c12b18ec4d915247b}


Get displacement of the trajectory. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-dt} & Change in time since last update call. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
the displacemet 
\end{DoxyReturn}
\hypertarget{classnubot_1_1para__traj__planning_aec43c0428c311568c6369d02e12795e8}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Get\-Accel@{Get\-Accel}}
\index{Get\-Accel@{Get\-Accel}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Get\-Accel}]{\setlength{\rightskip}{0pt plus 5cm}double para\-\_\-traj\-\_\-planning\-::\-Get\-Accel (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
) const}}\label{classnubot_1_1para__traj__planning_aec43c0428c311568c6369d02e12795e8}


Get the constant acceleration. 

\begin{DoxyReturn}{Returns}
The constant acceleration 
\end{DoxyReturn}
\hypertarget{classnubot_1_1para__traj__planning_adca3092bc6cfe64f2b7fb09dd66c50c9}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Get\-Distance@{Get\-Distance}}
\index{Get\-Distance@{Get\-Distance}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Get\-Distance}]{\setlength{\rightskip}{0pt plus 5cm}double para\-\_\-traj\-\_\-planning\-::\-Get\-Distance (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
) const}}\label{classnubot_1_1para__traj__planning_adca3092bc6cfe64f2b7fb09dd66c50c9}


Get distance about to travel. 

\begin{DoxyReturn}{Returns}
The distance 
\end{DoxyReturn}
\hypertarget{classnubot_1_1para__traj__planning_a8c5b225529f70ba36617a81b38f2da61}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Get\-Max\-Vel@{Get\-Max\-Vel}}
\index{Get\-Max\-Vel@{Get\-Max\-Vel}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Get\-Max\-Vel}]{\setlength{\rightskip}{0pt plus 5cm}double para\-\_\-traj\-\_\-planning\-::\-Get\-Max\-Vel (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
) const}}\label{classnubot_1_1para__traj__planning_a8c5b225529f70ba36617a81b38f2da61}


Get the maximum velocity or the velocity of the straight line part. 

\begin{DoxyReturn}{Returns}
The maximum velocity 
\end{DoxyReturn}
\hypertarget{classnubot_1_1para__traj__planning_a18420bf66ac499e432718b9c6faab5b2}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Init@{Init}}
\index{Init@{Init}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Init}]{\setlength{\rightskip}{0pt plus 5cm}void para\-\_\-traj\-\_\-planning\-::\-Init (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-accel = {\ttfamily 0.0}, }
\item[{double}]{\-\_\-max\-\_\-vel = {\ttfamily 0.0}, }
\item[{double}]{\-\_\-distance = {\ttfamily 0.0}}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_a18420bf66ac499e432718b9c6faab5b2}


Initialize \hyperlink{classnubot_1_1para__traj__planning}{para\-\_\-traj\-\_\-planning} params. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-accel} & The acceleration. \\
\hline
\mbox{\tt in}  & {\em \-\_\-distance} & The total distance to travel. If \-\_\-distance is negative, it will changed to positive in this function. \\
\hline
\mbox{\tt in}  & {\em \-\_\-max\-\_\-vel} & The maximum velocity. \\
\hline
\end{DoxyParams}
\hypertarget{classnubot_1_1para__traj__planning_a8b1a8820091ff8bb12801171ef10d9f2}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!operator=@{operator=}}
\index{operator=@{operator=}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{operator=}]{\setlength{\rightskip}{0pt plus 5cm}{\bf para\-\_\-traj\-\_\-planning}\& nubot\-::para\-\_\-traj\-\_\-planning\-::operator= (
\begin{DoxyParamCaption}
\item[{const {\bf para\-\_\-traj\-\_\-planning} \&}]{\-\_\-p}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}}\label{classnubot_1_1para__traj__planning_a8b1a8820091ff8bb12801171ef10d9f2}


Assignment operator. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-p} & a reference to a para\-\_\-traj\-\_\-plannining to assign values from \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
reference to this instance 
\end{DoxyReturn}
\hypertarget{classnubot_1_1para__traj__planning_aeb7b8fa44365f9b6e81a24214d2556a4}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Reset@{Reset}}
\index{Reset@{Reset}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Reset}]{\setlength{\rightskip}{0pt plus 5cm}void para\-\_\-traj\-\_\-planning\-::\-Reset (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_aeb7b8fa44365f9b6e81a24214d2556a4}


Reset all the params, output\-\_\-vel\-\_\- and output\-\_\-disp\-\_\-;. 

\hypertarget{classnubot_1_1para__traj__planning_acacb310a853b8045c860fd4735610b70}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Set\-Accel@{Set\-Accel}}
\index{Set\-Accel@{Set\-Accel}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Set\-Accel}]{\setlength{\rightskip}{0pt plus 5cm}void para\-\_\-traj\-\_\-planning\-::\-Set\-Accel (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-accel}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_acacb310a853b8045c860fd4735610b70}


Set the constant acceleration for the parabolic curve. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-accel} & the acceleration. \\
\hline
\end{DoxyParams}
\hypertarget{classnubot_1_1para__traj__planning_a52da7443d436abac47ea0a84fb734032}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Set\-Distance@{Set\-Distance}}
\index{Set\-Distance@{Set\-Distance}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Set\-Distance}]{\setlength{\rightskip}{0pt plus 5cm}void para\-\_\-traj\-\_\-planning\-::\-Set\-Distance (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-distance}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_a52da7443d436abac47ea0a84fb734032}


Set distance about to travel. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-distance} & the distance \\
\hline
\end{DoxyParams}
\hypertarget{classnubot_1_1para__traj__planning_ae85df349fd73029b13b60ca13a60c37d}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Set\-Max\-Vel@{Set\-Max\-Vel}}
\index{Set\-Max\-Vel@{Set\-Max\-Vel}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Set\-Max\-Vel}]{\setlength{\rightskip}{0pt plus 5cm}void para\-\_\-traj\-\_\-planning\-::\-Set\-Max\-Vel (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-vel}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_ae85df349fd73029b13b60ca13a60c37d}


Set the maximum velocity. 


\begin{DoxyParams}[1]{Parameters}
\mbox{\tt in}  & {\em \-\_\-vel} & the velocity \\
\hline
\end{DoxyParams}
\hypertarget{classnubot_1_1para__traj__planning_a444ae4938bb69327f99d293fb08b3d4d}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!Vel\-Update@{Vel\-Update}}
\index{Vel\-Update@{Vel\-Update}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{Vel\-Update}]{\setlength{\rightskip}{0pt plus 5cm}double para\-\_\-traj\-\_\-planning\-::\-Vel\-Update (
\begin{DoxyParamCaption}
\item[{double}]{\-\_\-dt}
\end{DoxyParamCaption}
)}}\label{classnubot_1_1para__traj__planning_a444ae4938bb69327f99d293fb08b3d4d}


Get velocity of the trajectory. 


\begin{DoxyParams}{Parameters}
{\em \-\_\-in\mbox{]}} & \-\_\-dt Change in time since last update call. \\
\hline
\end{DoxyParams}
\begin{DoxyReturn}{Returns}
the velocity 
\end{DoxyReturn}


\subsection{Member Data Documentation}
\hypertarget{classnubot_1_1para__traj__planning_ac2f88068a317316a2e483be7d75a71b8}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!acceleration\-\_\-@{acceleration\-\_\-}}
\index{acceleration\-\_\-@{acceleration\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{acceleration\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::acceleration\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_ac2f88068a317316a2e483be7d75a71b8}


constant acceleration of the parabolic curve. 

\hypertarget{classnubot_1_1para__traj__planning_a6115be17c446c1a2437b5575baf3f5a8}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!distance\-\_\-@{distance\-\_\-}}
\index{distance\-\_\-@{distance\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{distance\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::distance\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a6115be17c446c1a2437b5575baf3f5a8}


total distance to travel 

\hypertarget{classnubot_1_1para__traj__planning_a84667362f94667e70f1cf67829645a7d}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!is\-\_\-straight\-\_\-line\-\_\-@{is\-\_\-straight\-\_\-line\-\_\-}}
\index{is\-\_\-straight\-\_\-line\-\_\-@{is\-\_\-straight\-\_\-line\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{is\-\_\-straight\-\_\-line\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}bool nubot\-::para\-\_\-traj\-\_\-planning\-::is\-\_\-straight\-\_\-line\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a84667362f94667e70f1cf67829645a7d}


flag to indicate if there is a straight line part 

\hypertarget{classnubot_1_1para__traj__planning_a1ae8b889bdbb7716e9fbb5821328e4d1}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!max\-\_\-vel\-\_\-@{max\-\_\-vel\-\_\-}}
\index{max\-\_\-vel\-\_\-@{max\-\_\-vel\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{max\-\_\-vel\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::max\-\_\-vel\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a1ae8b889bdbb7716e9fbb5821328e4d1}


maximum velocity; the const velocity of the stragight line trajectory 

\hypertarget{classnubot_1_1para__traj__planning_a9095bac66ff724f1b9b9c366546f2b36}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!output\-\_\-disp\-\_\-@{output\-\_\-disp\-\_\-}}
\index{output\-\_\-disp\-\_\-@{output\-\_\-disp\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{output\-\_\-disp\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::output\-\_\-disp\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a9095bac66ff724f1b9b9c366546f2b36}


output displacement of the trajectory 

\hypertarget{classnubot_1_1para__traj__planning_ae57f0165c2b073b880bf4827bdd76204}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!output\-\_\-vel\-\_\-@{output\-\_\-vel\-\_\-}}
\index{output\-\_\-vel\-\_\-@{output\-\_\-vel\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{output\-\_\-vel\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::output\-\_\-vel\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_ae57f0165c2b073b880bf4827bdd76204}


output velocity of the trajectory 

\hypertarget{classnubot_1_1para__traj__planning_a89b8a9abfcb47b34ac861127fe26b8ca}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!t\-\_\-b\-\_\-@{t\-\_\-b\-\_\-}}
\index{t\-\_\-b\-\_\-@{t\-\_\-b\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{t\-\_\-b\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::t\-\_\-b\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a89b8a9abfcb47b34ac861127fe26b8ca}


end time of the first parabolic curve 

\hypertarget{classnubot_1_1para__traj__planning_a9c93d92b950dcb6f34b3c3b843aad823}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!t\-\_\-f\-\_\-@{t\-\_\-f\-\_\-}}
\index{t\-\_\-f\-\_\-@{t\-\_\-f\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{t\-\_\-f\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::t\-\_\-f\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a9c93d92b950dcb6f34b3c3b843aad823}


end time of the trajectory 

\hypertarget{classnubot_1_1para__traj__planning_a06fe0c4fbd1afaa2a33672a85705410a}{\index{nubot\-::para\-\_\-traj\-\_\-planning@{nubot\-::para\-\_\-traj\-\_\-planning}!time\-\_\-@{time\-\_\-}}
\index{time\-\_\-@{time\-\_\-}!nubot::para_traj_planning@{nubot\-::para\-\_\-traj\-\_\-planning}}
\subsubsection[{time\-\_\-}]{\setlength{\rightskip}{0pt plus 5cm}double nubot\-::para\-\_\-traj\-\_\-planning\-::time\-\_\-\hspace{0.3cm}{\ttfamily [private]}}}\label{classnubot_1_1para__traj__planning_a06fe0c4fbd1afaa2a33672a85705410a}


total time starting from 0 



The documentation for this class was generated from the following files\-:\begin{DoxyCompactItemize}
\item 
src/nubot\-\_\-simulation/nubot\-\_\-gazebo/plugins/\hyperlink{parabolic__transition__planning_8hh}{parabolic\-\_\-transition\-\_\-planning.\-hh}\item 
src/nubot\-\_\-simulation/nubot\-\_\-gazebo/plugins/\hyperlink{parabolic__transition__planning_8cc}{parabolic\-\_\-transition\-\_\-planning.\-cc}\end{DoxyCompactItemize}
